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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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All sourcesNASA NTRSDOE OSTI
NASA NTRS2012

An Autonomous Autopilot Control System Design for Small-Scale UAVs

This paper describes the design and implementation of a fully autonomous and programmable autopilot system for small scale autonomous unmanned aerial vehicle (UAV) aircraft. This system was implemented in Reflection and has flown on the Exploration Aerial Vehicle (EAV) platform at NASA Ames Research Center, currently only as a safety backup for an experimental autopilot. The EAV and ground station are built on a component-based architecture called the Reflection Architecture. The Reflection Architecture is a prototype for a real-time embedded plug-and-play avionics system architecture which provides a transport layer for real-time communications between hardware and software components, allowing each component to focus solely on its implementation. The autopilot module described here, although developed in Reflection, contains no design elements dependent on this architecture.

Ippolito, Corey↗
NASA NTRS2014

Traffic Aware Planner (TAP) Flight Evaluation

NASA's Traffic Aware Planner (TAP) is a cockpit decision support tool that has the potential to achieve significant fuel and time savings when it is embedded in the data-rich Next Generation Air Transportation System (NextGen) airspace. To address a key step towards the operational deployment of TAP and the NASA concept of Traffic Aware Strategic Aircrew Requests (TASAR), a system evaluation was conducted in a representative flight environment in November, 2013. Numerous challenges were overcome to achieve this goal, including the porting of the foundational Autonomous Operations Planner (AOP) software from its original simulation-based, avionics-embedded environment to an Electronic Flight Bag (EFB) platform. A flight-test aircraft was modified to host the EFB, the TAP application, an Automatic Dependent Surveillance Broadcast (ADS-B) processor, and a satellite broadband datalink. Nine Evaluation Pilots conducted 26 hours of TAP assessments using four route profiles in the complex eastern and north-eastern United States airspace. Extensive avionics and video data were collected, supplemented by comprehensive inflight and post-flight questionnaires. TAP was verified to function properly in the live avionics and ADS-B environment, characterized by recorded data dropouts, latency, and ADS-B message fluctuations. Twelve TAP-generated optimization requests were submitted to ATC, of which nine were approved, and all of which resulted in fuel and/or time savings. Analysis of subjective workload data indicated that pilot interaction with TAP during flight operations did not induce additional cognitive loading. Additionally, analyses of post-flight questionnaire data showed that the pilots perceived TAP to be useful, understandable, intuitive, and easy to use. All program objectives were met, and the next phase of TAP development and evaluations with partner airlines is in planning for 2015.

Maris, John M.↗
NASA NTRS2014

Overview of Intelligent Power Controller Development for Human Deep Space Exploration

Intelligent or autonomous control of an entire spacecraft is a major technology that must be developed to enable NASA to meet its human exploration goals. NASAs current long term human space platform, the International Space Station, is in low earth orbit with almost continuous communication with the ground based mission control. This permits the near real-time control by the ground of all of the core systems including power. As NASA moves beyond Low Earth Orbit, the issues of communication time-lag and lack of communication bandwidth beyond geosynchronous orbit does not permit this type of operation. This paper presents the work currently ongoing at NASA to develop an architecture for an autonomous power control system as well as the effort to assemble that controller into the framework of the vehicle mission manager and other subsystem controllers to enable autonomous control of the complete spacecraft. Due to the common problems faced in both space power systems and terrestrial power system, the potential for spin-off applications of this technology for use in micro-grids located at the edge or user end of terrestrial power grids for peak power accommodation and reliability are described.

Space Flight↗
DOE OSTI2024

The MOSAiC Distributed Network: Observing the coupled Arctic system with multidisciplinary, coordinated platforms

Central Arctic properties and processes are important to the regional and global coupled climate system. The Multidisciplinary drifting Observatory for the Study of Arctic Climate (MOSAiC) Distributed Network (DN) of autonomous ice-tethered systems aimed to bridge gaps in our understanding of temporal and spatial scales, in particular with respect to the resolution of Earth system models. By characterizing variability around local measurements made at a Central Observatory, the DN covers both the coupled system interactions involving the ocean-ice-atmosphere interfaces as well as three-dimensional processes in the ocean, sea ice, and atmosphere. The more than 200 autonomous instruments (“buoys”) were of varying complexity and set up at different sites mostly within 50 km of the Central Observatory. During an exemplary midwinter month, the DN observations captured the spatial variability of atmospheric processes on sub-monthly time scales, but less so for monthly means. They show significant variability in snow depth and ice thickness, and provide a temporally and spatially resolved characterization of ice motion and deformation, showing coherency at the DN scale but less at smaller spatial scales. Ocean data show the background gradient across the DN as well as spatially dependent time variability due to local mixed layer sub-mesoscale and mesoscale processes, influenced by a variable ice cover. The second case (May–June 2020) illustrates the utility of the DN during the absence of manually obtained data by providing continuity of physical and biological observations during this key transitional period. We show examples of synergies between the extensive MOSAiC remote sensing observations and numerical modeling, such as estimating the skill of ice drift forecasts and evaluating coupled system modeling. The MOSAiC DN has been proven to enable analysis of local to mesoscale processes in the coupled atmosphere-ice-ocean system and has the potential to improve model parameterizations of important, unresolved processes in the future.

54 ENVIRONMENTAL SCIENCES↗
NASA NTRS2024

Autonomous Medical Officer Support (AMOS) Software Technology Demonstrations on the International Space Station (ISS)

Performance of medical procedures in spaceflight beyond low Earth orbit (LEO) requires novel solutions to replace real-time ground support because as distance from Earth increases, communication latencies increase, hampering remote guidance. The Autonomous Medical Officer Support Software (AMOS) Technology Demonstrations on the International Space Station (ISS) trialed a novel software tool that shifts the emphasis from preflight training and real-time remote guidance (current ISS paradigm) to a new standard of multi-dimensional in-flight just-in-time (JIT) instruction. The AMOS platform is a skill management tool for all mission phases and currently features comprehensive training and guidance modules for urinary bladder and renal ultrasound examinations. Variability in Subject anatomy, Operator experience, and Operator receptiveness to instruction during autonomous exams are persistent but manageable limitations. Here we report the first successful demonstrations of autonomous imaging activities in the operational setting of spaceflight, validating this autonomous guidance proof of concept.

Douglas Ebert↗
NASA NTRS1990

Automated platform management system scheduling

The Platform Management System (PMS) has been established to coordinate the operation of platform systems and payloads. Since platforms are to be out of contact with the ground more than the manned base, PMS functions are required to be more autonomous than those of the manned base. Automated replanning and rescheduling will be required to effectively and efficiently meet mission goals. In a FY88 study, we developed a phased approach to automated PMS scheduling based upon use of the same scheduling engine in both ground and space components. In the past year, we implemented a baseline, first phase, PMS scheduler prototype. Presently we are integrating this scheduler into two NASA Goddard Space Flight Center testbeds, as the ground scheduler in the Scheduling Concepts, Architectures, and Networks Testbed and as the onboard scheduler in the PMS Testbed. We will investigate rescheduling issues, evaluated operational performance and enhance the prototype to demonstrate our evolutionary approach to automated PMS scheduling.

Hull, Larry G.↗
NASA NTRS2015

Project Morpheus: Lean Development of a Terrestrial Flight Testbed for Maturing NASA Lander Technologies

NASA's Morpheus Project has developed and tested a prototype planetary lander capable of vertical takeoff and landing that is designed to serve as a testbed for advanced spacecraft technologies. The lander vehicle, propelled by a Liquid Oxygen (LOX)/Methane engine and sized to carry a 500kg payload to the lunar surface, provides a platform for bringing technologies from the laboratory into an integrated flight system at relatively low cost. In 2012, Morpheus began integrating the Autonomous Landing and Hazard Avoidance Technology (ALHAT) sensors and software onto the vehicle in order to demonstrate safe, autonomous landing and hazard avoidance. From the beginning, one of goals for the Morpheus Project was to streamline agency processes and practices. The Morpheus project accepted a challenge to tailor the traditional NASA systems engineering approach in a way that would be appropriate for a lower cost, rapid prototype engineering effort, but retain the essence of the guiding principles. This paper describes the tailored project life cycle and systems engineering approach for the Morpheus project, including the processes, tools, and amount of rigor employed over the project's multiple lifecycles since the project began in fiscal year (FY) 2011.

Devolites, Jennifer L.↗
DOE OSTI2022

Autonomous Microgrid Restoration Using Grid-Forming Inverters and Smart Circuit Breakers: Preprint

The proliferation of distributed inverter-based resources (IBRs) raises the questions if these IBRs can be used to blackstart microgrids and distribution feeders after major outages. In this paper, we propose and evaluate an autonomous microgrid restoration concept using grid-forming (GFM) IBRs and smart circuit creakers (SCBs). The concept is first explored in simulation platform and then a hardware testbed containing actual GFM inverters is developed to demonstrate these functionalities. A combination of dispatchable virtual oscillator control (dVOC) and droop-based control schemes have been designed for GFM inverter controls in the software simulations and hardware testbed. Subsequently, operation of SCBs using two distinct principles have been demonstrated that can restore or connect portions of the network.

grid reconfiguration↗
NASA NTRS2014

Overview of Intelligent Power Controller Development for Human Deep Space Exploration

Intelligent or autonomous control of an entire spacecraft is a major technology that must be developed to enable NASA to meet its human exploration goals. NASA's current long term human space platform, the International Space Station, is in low earth orbit with almost continuous communication with the ground based mission control. This permits the near real-time control by the ground of all of the core systems including power. As NASA moves beyond Low Earth Orbit, the issues of communication time-lag and lack of communication bandwidth beyond geosynchronous orbit does not permit this type of operation. This paper presents the work currently ongoing at NASA to develop an architecture for an autonomous power control system as well as the effort to assemble that controller into the framework of the vehicle mission manager and other subsystem controllers to enable autonomous control of the complete spacecraft. Due to the common problems faced in both space power systems and terrestrial power system, the potential for spin-off applications of this technology for use in micro-grids located at the edge or user end of terrestrial power grids for peak power accommodation and reliability are described.

Space Flight↗
NASA NTRS2014

Overview of Intelligent Power Controller Development for Human Deep Space Exploration

Intelligent or autonomous control of an entire spacecraft is a major technology that must be developed to enable NASA to meet its human exploration goals. NASA's current long term human space platform, the International Space Station, is in low Earth orbit with almost continuous communication with the ground based mission control. This permits the near real-time control by the ground of all of the core systems including power. As NASA moves beyond low Earth orbit, the issues of communication time-lag and lack of communication bandwidth beyond geosynchronous orbit does not permit this type of operation. This paper presents the work currently ongoing at NASA to develop an architecture for an autonomous power control system as well as the effort to assemble that controller into the framework of the vehicle mission manager and other subsystem controllers to enable autonomous control of the complete spacecraft. Due to the common problems faced in both space power systems and terrestrial power system, the potential for spin-off applications of this technology for use in micro-grids located at the edge or user end of terrestrial power grids for peak power accommodation and reliability are described.

Space Flight↗
NASA NTRS2020

Medical Data Architecture Prototype Development - Summary of Recent Work and Proposed Ideas for Upcoming Work

The Medical Data Architecture (MDA) project supports the Exploration Medical Capability (ExMC) risk to minimize or reduce the risk of adverse health outcomes and decrements in performance due to in-flight medical capabilities on human exploration missions. To mitigate this risk, the ExMC MDA project addresses the technical limitations identified in ExMC Gap Med 07: We do not have the capability to comprehensively process medically-relevant information to support medical operations during exploration missions, and in ExMC Gap Med 10: We do not have the capability to provide computed medical decision support during exploration missions. These gaps recognize the need for a comprehensive medical data management system and the accompanying computational support to provide autonomous medical care during long duration exploration missions. As the MDA matures—including the capability to comprehensively process and discover medically-relevant information to support medical operations during exploration missions—project focus will shift to maturing and extending the MDA platform to enable clinical decision support and real-time guidance. To date, the MDA foundational architecture has recommended exploration medical system Level of Care IV requirements through a series of test bed prototype developments and analog demonstrations. The next stage in the development will focus on more autonomous clinical decision making necessary to address challenges in executing a self-contained medical system that enables health care both with and without assistance from ground support. A thorough understanding of current state of medical decision support systems, advanced machine learning algorithms and vast and varied data sources is required. The development of a clinical decision support for exploration missions (Level of Care V) roadmap is needed: one that assesses of current state of the art of clinical decision support systems (CDSS), interoperability issues, identification of challenges in health and performance monitoring, obtaining and processing information from biosensors, knowledge and data management, data integration and fusion, and advanced algorithm development. This roadmap must also include rapid prototype development in the areas of data processing, advanced analysis and prediction of medical events, and treatment based on medically relevant information processing and evidence-based best practices. In this presentation, an overview of the relevant issues and the beginning framework of a Level of Care V CDSS development roadmap will be provided.

Krihak, M.↗
DOE OSTI2024

Data collected using small uncrewed aircraft systems during the TRacking Aerosol Convection interactions ExpeRiment (TRACER)

Abstract. The main goal of the TRacking Aerosol Convection interactions ExpeRiment (TRACER) project was to further understand the role that regional circulations and aerosol loading play in the convective cloud life cycle across the greater Houston, Texas, area. To accomplish this goal, the United States Department of Energy and research partners collaborated to deploy atmospheric observing systems across the region. Cloud and precipitation radars, radiosondes, and air quality sensors captured atmospheric and cloud characteristics. A dense lower-atmospheric dataset was developed using ground-based remote sensors, a tethersonde, and uncrewed aerial systems (UASs). TRACER-UAS is a subproject that deployed two UAS platforms to gather high-resolution observations in the lower atmosphere between 1 June and 30 September 2022. The University of Oklahoma CopterSonde and the University of Colorado Boulder RAAVEN (Robust Autonomous Aerial Vehicle – Endurant Nimble) were flown at two coastal locations between the Gulf of Mexico and Houston. The University of Colorado Boulder RAAVEN gathered measurements of atmospheric thermodynamic state, winds and turbulence, and aerosol size distribution. Meanwhile, the University of Oklahoma CopterSonde system operated on a regular basis to resolve the vertical structure of the thermodynamic and kinematic state. Together, a complementary dataset of over 200 flight hours across 61 d was generated, and data from each platform proved to be in strong agreement. In this paper, the platforms and respective data collection and processing are described. The dataset described herein provides information on boundary layer evolution, the sea breeze circulation, conditions prior to and nearby deep convection, and the vertical structure and evolution of aerosols. The quality-controlled TRACER-UAS observations from the CopterSonde and RAAVEN can be found at https://doi.org/10.5439/1969004 (Lappin, 2023) and https://doi.org/10.5439/1985470 (de Boer, 2023), respectively.

54 ENVIRONMENTAL SCIENCES↗
NASA NTRS2011

Teleoperated Marsupial Mobile Sensor Platform Pair for Telepresence Insertion Into Challenging Structures

A platform has been developed for two or more vehicles with one or more residing within the other (a marsupial pair). This configuration consists of a large, versatile robot that is carrying a smaller, more specialized autonomous operating robot(s) and/or mobile repeaters for extended transmission. The larger vehicle, which is equipped with a ramp and/or a robotic arm, is used to operate over a more challenging topography than the smaller one(s) that may have a more limited inspection area to traverse. The intended use of this concept is to facilitate the insertion of a small video camera and sensor platform into a difficult entry area. In a terrestrial application, this may be a bus or a subway car with narrow aisles or steep stairs. The first field-tested configuration is a tracked vehicle bearing a rigid ramp of fixed length and width. A smaller six-wheeled vehicle approximately 10 in. (25 cm) wide by 12 in. (30 cm) long resides at the end of the ramp within the larger vehicle. The ramp extends from the larger vehicle and is tipped up into the air. Using video feedback from a camera atop the larger robot, the operator at a remote location can steer the larger vehicle to the bus door. Once positioned at the door, the operator can switch video feedback to a camera at the end of the ramp to facilitate the mating of the end of the ramp to the top landing at the upper terminus of the steps. The ramp can be lowered by remote control until its end is in contact with the top landing. At the same time, the end of the ramp bearing the smaller vehicle is raised to minimize the angle of the slope the smaller vehicle has to climb, and further gives the operator a better view of the entry to the bus from the smaller vehicle. Control is passed over to the smaller vehicle and, using video feedback from the camera, it is driven up the ramp, turned oblique into the bus, and then sent down the aisle for surveillance. The demonstrated vehicle was used to scale the steps leading to the interior of a bus whose landing is 44 in. (.1.1 m) from the road surface. This vehicle can position the end of its ramp to a surface over 50 in. (.1.3 m) above ground level and can drive over rail heights exceeding 6 in. (.15 cm). Thus configured, this vehicle can conceivably deliver the smaller robot to the end platform of New York City subway cars from between the rails. This innovation is scalable to other formulations for size, mobility, and surveillance functions. Conceivably the larger vehicle can be configured to traverse unstable rubble and debris to transport a smaller search and rescue vehicle as close as possible to the scene of a disaster such as a collapsed building. The smaller vehicle, tethered or otherwise, and capable of penetrating and traversing within the confined spaces in the collapsed structure, can transport imaging and other sensors to look for victims or other targets.

Krasowski, Michael J.↗
DOE OSTI2023

Site Selection for Field Testing of a Marine Hydrokinetic Turbine Platform to Serve as a Floating Unmanned Mobile Recharging Station for Aerial Drones

Abstract Expanding applications of unmanned aerial vehicles (UAVs) in coastal areas suggests a need for stations along or close to the coast where the UAV batteries can be easily recharged. A small-scale low flow marine current turbine in support of a floating autonomous recharge station for small UAVs has been designed and assembled at Florida Atlantic University and is being prepared for field testing. Surveys of identified test sites in the Intracoastal Waterways and at open ocean locations are being conducted to determine their suitability in meeting resource, system design and permitting requirements. A sensor platform has been developed for measuring local currents at the identified sites in support of resource characterization. Two out of the eight sites surveyed in the Intracoastal Waterways are found to meet the field-testing requirements for current resource, water depth, and sea bottom conditions. Planned field testing will include parametric characterization studies of the performance of the current turbine for a range of turbine blade configurations, current speeds, turbine wheel submergence levels, and test site location (channeled flow vs open ocean flow).

McKinney, Adriana Lynell↗
NASA NTRS2016

Towards Autonomous Operations of the Robonaut 2 Humanoid Robotic Testbed

The Robonaut project has been conducting research in robotics technology on board the International Space Station (ISS) since 2012. Recently, the original upper body humanoid robot was upgraded by the addition of two climbing manipulators ("legs"), more capable processors, and new sensors, as shown in Figure 1. While Robonaut 2 (R2) has been working through checkout exercises on orbit following the upgrade, technology development on the ground has continued to advance. Through the Active Reduced Gravity Offload System (ARGOS), the Robonaut team has been able to develop technologies that will enable full operation of the robotic testbed on orbit using similar robots located at the Johnson Space Center. Once these technologies have been vetted in this way, they will be implemented and tested on the R2 unit on board the ISS. The goal of this work is to create a fully-featured robotics research platform on board the ISS to increase the technology readiness level of technologies that will aid in future exploration missions. Technology development has thus far followed two main paths, autonomous climbing and efficient tool manipulation. Central to both technologies has been the incorporation of a human robotic interaction paradigm that involves the visualization of sensory and pre-planned command data with models of the robot and its environment. Figure 2 shows screenshots of these interactive tools, built in rviz, that are used to develop and implement these technologies on R2. Robonaut 2 is designed to move along the handrails and seat track around the US lab inside the ISS. This is difficult for many reasons, namely the environment is cluttered and constrained, the robot has many degrees of freedom (DOF) it can utilize for climbing, and remote commanding for precision tasks such as grasping handrails is time-consuming and difficult. Because of this, it is important to develop the technologies needed to allow the robot to reach operator-specified positions as autonomously as possible. The most important progress in this area has been the work towards efficient path planning for high DOF, highly constrained systems. Other advances include machine vision algorithms for localizing and automatically docking with handrails, the ability of the operator to place obstacles in the robot's virtual environment, autonomous obstacle avoidance techniques, and constraint management.

Badger, Julia↗
DOE OSTI2020

Regulatory interventions improve the biosynthesis of limiting amino acids from methanol carbon to improve synthetic methylotrophy in Escherichia coli

Synthetic methylotrophy aims to engineer methane and methanol utilization pathways in platform hosts like Escherichia coli for industrial bioprocessing of natural gas and biogas. While recent attempts to engineer synthetic methylotrophs have proved successful, autonomous methylotrophy, that is, the ability to utilize methane or methanol as sole carbon and energy substrates, has not yet been realized. Here, we address an important limitation of autonomous methylotrophy in E. coli: the inability of the organism to synthesize several amino acids when grown on methanol. We targeted global and local amino acid regulatory networks. Those include removal of amino acid allosteric feedback inhibition (argA H15Y , ilvA L447F , hisG E271K , leuA G462D , proB D107N , thrA S345F, trpE S40F ), knockouts of transcriptional repressors (ihfA, metJ); and overexpression of amino acid biosynthetic operons (hisGDCBHAFI, leuABCD, thrABC, trpEDCBA) and transcriptional regulators (crp, purR). Compared to the parent methylotrophic E. coli strain that was unable to synthesize these amino acids from methanol carbon, these strategies resulted in improved biosynthesis of limiting proteinogenic amino acids (histidine, leucine, lysine, methionine, phenylalanine, threonine, tyrosine) from methanol carbon. In several cases, improved amino acid biosynthesis from methanol carbon led to improvements in methylotrophic growth in methanol minimal medium supplemented with a small amount of yeast extract. Here, this study addresses a key limitation currently preventing autonomous methylotrophy in E. coli and possibly other synthetic methylotrophs and provides insight as to how this limitation can be alleviated via global and local regulatory modifications.

60 APPLIED LIFE SCIENCES↗
DOE OSTI2020

Triggering the stringent response enhances synthetic methanol utilization in Escherichia coli

Synthetic methylotrophy aims to engineer methane and methanol utilization pathways in platform hosts like Escherichia coli for industrial bioprocessing of natural gas and biogas. While recent attempts to engineer synthetic methylotrophs have proved successful, autonomous methylotrophy, i.e. the ability to utilize methane or methanol as sole carbon and energy substrates, has not yet been realized. Here in this paper, we address an important limitation of autonomous methylotrophy in E. coli: the inability of the organism to synthesize several amino acids when grown on methanol. By activating the stringent/stress response via ppGpp overproduction, or DksA and RpoS overexpression, we demonstrate improved biosynthesis of proteinogenic amino acids via endogenous upregulation of amino acid synthesis pathway genes. Thus, we were able to achieve biosynthesis of several limiting amino acids from methanol-derived carbon, in contrast to the control methylotrophic E. coli strain. This study addresses a key limitation currently preventing autonomous methylotrophy in E. coli and possibly other synthetic methylotrophs and provides insight as to how this limitation can be alleviated via stringent/stress response activation.

60 APPLIED LIFE SCIENCES↗
NASA NTRS2005

Upper Torso Control for HOAP-2 Using Neural Networks

Humanoid robots have similar physical builds and motion patterns as humans. Not only does this provide a suitable operating environment for the humanoid but it also opens up many research doors on how humans function. The overall objective is replacing humans operating in unsafe environments. A first target application is assembly of structures for future lunar-planetary bases. The initial development platform is a Fujitsu HOAP-2 humanoid robot. The goal for the project is to demonstrate the capability of a HOAP-2 to autonomously construct a cubic frame using provided tubes and joints. This task will require the robot to identify several items, pick them up, transport them to the build location, then properly assemble the structure. The ability to grasp and assemble the pieces will require improved motor control and the addition of tactile feedback sensors. In recent years, learning-based control is becoming more and more popular; for implementing this method we will be using the Adaptive Neural Fuzzy Inference System (ANFIS). When using neural networks for control, no complex models of the system must be constructed in advance-only input/output relationships are required to model the system.

Sandoval, Steven P.↗